Jim, have you ever seen the Milkweed Tussock Moths in their early instars? I've only seen them in pictures and by then they were black, orange, and white. But that's the only moth I know that eats milkweed. I even checked my caterpillar book.
Yes I have seen them , the ones with white hairs pointing to the side , more than the big white all furry type ,
Those above look like Fir Species of Tussock Moth , there are several If you google Tussock Moth it will show you a few different types
In the Butterfly garden if a plant is not chewed up I feel like a failure
They rather resemble Pseudodoros clavatus aka Dioprosopa clavata - it's a beneficial syrphid fly larva that eats aphids and occurs on milkweed (so not a caterpillar):
Name: greene Savannah, GA (Sunset 28) (Zone 8b) I have no use for internet bullies!
There are Aphids visible in the photos and it does not look like the leaves have been chewed. I think @sooby may have nailed it.
Hmmm, maybe I should have posted a link to the "Beneficial Fly Forum".
Sunset Zone 28, AHS Heat Zone 9, USDA zone 8b~"Leaf of Faith"
I am a strong believer in the simple fact is that what matters in this life is how we treat others. I think that's what living is all about. Not what I've done in my life but how I've treated others. ~~ Sharon Brown